Trunk structure and robot

Abstract

The invention discloses a trunk structure and a robot, and relates to the technical field of robotics.The trunk structure comprises a plurality of folding units connected in sequence, and the adjacent folding units can be rotationally folded so that the trunk structure can be in a folded state and an unfolded state; the auxiliary assembly comprises an elastic piece, one end of the elastic piece is connected with one folding unit, the other end of the elastic piece is used for being connected with the other adjacent folding unit, and when the trunk structure is switched from the stretching state to the folding state, the elastic piece is lengthened, and the elastic piece is folded. And the elastic piece generates driving force for driving the two adjacent folding units to reset. The trunk structure provided by the technical scheme of the invention can reduce instantaneous pressure of folding and stretching of the trunk part.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a trunk structure and a robot. Background Art

[0002] Robotics is a multidisciplinary discipline that has developed in recent years. As a leading technology for the future of the world, it is creating new industries and formats, driving the shift toward intelligent production and consumption, and profoundly impacting human life and work. Robotics technology has been widely applied in industrial automation, service robotics, medical care, security inspection, and other fields. Spatial adaptability has become a key performance indicator for robots, particularly in compact urban living spaces and cramped industrial environments.

[0003] At present, after the robot torso is folded, the angles between the folded joints are small. When the driving mechanism drives the extension, it is subjected to large instantaneous pressure, which seriously affects the life of the driving mechanism. Summary of the Invention

[0004] The main purpose of the present invention is to provide a main trunk structure, aiming to solve the current technical problem that the instantaneous pressure of the robot trunk during folding and stretching is relatively large, which seriously affects the life of the drive mechanism.

[0005] To achieve the above objectives, the trunk structure proposed in the present invention includes:

[0006] a plurality of folding units connected in sequence, wherein adjacent folding units can be rotated and folded, so that the trunk structure has a folded state and an extended state; and

[0007] The auxiliary component includes an elastic member, one end of which is connected to one of the folding units, and the other end is used to connect to another adjacent folding unit. When the trunk structure switches from the extended state to the folded state, the elastic member is stretched, so that the elastic member generates a driving force to drive the two adjacent folding units to reset.

[0008] In one embodiment, the auxiliary component also includes a guide plate and a connecting rope, the guide plate is provided on one of the folding units, one end of the connecting rope is connected to one of the folding units, and the other end is connected to the elastic member, and when the trunk structure switches from an extended state to a folded state, the connecting rope bends along the guide plate and pulls the elastic member.

[0009] In one embodiment, the auxiliary component further includes a fixed block, a hook and an adjusting member, the fixed block is fixedly connected to the folding unit, one end of the adjusting member passes through the fixed block and is rotatably connected to the hook, a guide groove is provided on the side wall of the folding unit, the hook is slidably connected to the guide groove, and is locked to the folding unit by a bolt.

[0010] In one embodiment, the auxiliary component further comprises a fixing post, the fixing post being fixedly disposed on the folding unit, and the end of the connecting rope facing away from the elastic member being connected to the fixing post; and / or,

[0011] The auxiliary unit further includes a protective plate, which is arranged on the folding unit and forms a cavity for accommodating the elastic member between the protective plate and the outer wall of the folding unit.

[0012] In one embodiment, the auxiliary structures are provided in two groups, and the two groups of auxiliary structures are symmetrically arranged on both sides of the folding unit.

[0013] In one embodiment, each of the folding units includes a connecting frame and a driving unit, the driving unit includes a driving shaft and a power member, the power member is drivingly connected to the driving shaft and drives the driving shaft to rotate, the driving shaft is connected to the connecting frame, and the driving shaft rotates to drive the connecting frame to rotate, and the power member is fixedly connected to the connecting member of the adjacent folding unit.

[0014] In one embodiment, the connecting frame includes a connecting ear, the driving shaft passes through the connecting ear and is fixedly connected to the connecting ear, and the guide plate is provided on the connecting ear, and the guide plate is arranged in an arc shape.

[0015] In one embodiment, the trunk structure also includes a main body, one of the multiple folding units is configured as a first folding part, another is configured as a second folding part, and yet another is configured as a third folding part. In the folded state, the first folding part, the second folding part and the third folding part are stacked. In the extended state, the folding rotation axes of adjacent driving units are staggered and located on opposite sides of the central axis of the main body. The first folding part is used to connect the main body, and the third folding part is arranged between the first folding part and the second folding part.

[0016] In one embodiment, the trunk structure further includes a rotating portion, which is fixed to the first folding portion, and the rotating portion is also driven to connect to the main body portion and drive the main body portion to rotate.

[0017] The present invention further proposes a robot, comprising a head structure, a walking structure, and the trunk structure as described above, wherein the trunk structure is respectively connected to the head structure and the walking structure.

[0018] The present invention's technical solution enables the trunk structure to have both folded and extended states by rotating and folding multiple folding units connected in sequence. Auxiliary components are employed to provide auxiliary power when the folding units switch from the folded state to the extended state. Specifically, when the folding units rotate and fold, the elastic members are stretched, tending to drive the folding units back to their original positions. When the folding units switch from the folded state to the extended state, auxiliary driving force is provided at the moment of extension, alleviating instantaneous pressure on the folding units and improving their lifespan. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0020] Figure 1 A schematic structural diagram of a trunk structure embodiment provided by the present invention in an extended state;

[0021] Figure 2 A schematic structural diagram of a trunk structure embodiment provided by the present invention in a folded state;

[0022] Figure 3 A schematic diagram of a partial structure of a trunk structure embodiment provided by the present invention from an angle;

[0023] Figure 4 A schematic structural diagram of a portion of the trunk structure embodiment provided by the present invention from another angle;

[0024] Figure 5 A side structural diagram of an embodiment of a trunk structure provided by the present invention;

[0025] Figure 6 A schematic structural diagram of the auxiliary components of the trunk structure embodiment provided by the present invention;

[0026] Figure 7 for Figure 6 A magnified view of the structure at center A;

[0027] Figure 8 This is a schematic structural diagram of the driving unit of the torso structure embodiment provided by the present invention.

[0028] Description of Figure Numbers:

[0029] 10. Head structure; 20. Walking structure; 21. Fixed frame;

[0030] 100. Main cadres;

[0031] 200, first folding portion; 210, first driving shaft; 211, first connecting plate; 220, first connecting frame; 221, first connecting ear; 230, first housing;

[0032] 300, second folding portion; 310, second drive shaft; 311, second connecting plate; 320, second connecting frame; 321, second connecting ear; 330, second housing;

[0033] 400, third folding portion; 410, third drive shaft; 411, third connecting plate; 420, third connecting frame; 421, third connecting ear; 430, third housing;

[0034] 500, drive unit; 510, power component; 520, transmission assembly; 521, worm; 522, helical gear; 530, reduction assembly; 531, first planetary disk; 532, second planetary disk; 533, protective housing;

[0035] 600, rotating part;

[0036] 700, auxiliary component; 710, elastic member; 720, guide plate; 730, fixing column; 740, hook; 750, adjustment member; 760, fixing block; 770, protective plate;

[0037] 800, folding unit; 810, connecting frame; 811, connecting ear; 820, driving shaft; 830, power member; 840, guide groove.

[0038] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0040] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0041] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0042] In existing technologies, spatial adaptability is a key performance indicator for robots, particularly in compact urban living spaces and cramped industrial environments. Currently, when a robot's trunk is folded, the angles between the folding joints are small. This creates a significant instantaneous stress on the drive mechanism during extension, severely impacting its lifespan.

[0043] The present invention provides a trunk structure.

[0044] See also Figures 1 to 8 As shown, in one embodiment of the present invention, the trunk structure includes: a plurality of folding units 800 connected in sequence and an auxiliary component 700, wherein adjacent folding units 800 can be rotated and folded, so that the trunk structure has a folded state and an extended state; the auxiliary component 700 includes an elastic member 710, one end of the elastic member 710 is connected to a folding unit 800, and the other end is used to connect to another adjacent folding unit 800. When the trunk structure switches from the extended state to the folded state, the elastic member 710 is stretched, so that the elastic member 710 generates a driving force to drive the two adjacent folding units 800 to reset.

[0045] In this embodiment, multiple folding units 800 are connected in sequence, and adjacent folding units 800 can be rotated and folded to accommodate different environments or applications. It is understood that each folding unit 800 is provided with a drive unit 500 that provides a driving force for rotation and folding. The drive unit 500 can be a motor structure, a cylinder structure, or other power structure, which is not limited in this embodiment. It should be noted that an auxiliary component 700 is provided between each adjacent folding unit 800 to assist in rotation.

[0046] Taking two adjacent folding units 800 as an example, in a specific implementation, in the two adjacent folding units 800, one end of the elastic member 710 is connected to one of the folding units 800, and the other end is connected to the other folding unit 800. When the two folding units 800 are folded, one or both ends of the elastic member 710 are driven to move, changing the original position or state of the elastic member 710, causing the elastic member 710 to be stretched. In this way, the elastic member 710 generates an elastic driving force with a tendency to drive the two folding units 800 to extend. At the initial moment of extension of the two folding units 800, the elastic drive of the elastic member 710 provides an auxiliary driving force for the extension and reset, thereby reducing the instantaneous pressure on the driving unit 500. The elastic member 710 can be a long strip structure made of elastic material or a spring.

[0047] The present invention utilizes a plurality of sequentially connected folding units 800 that rotate and fold to create a trunk structure with both folded and extended states. The auxiliary assembly 700 provides auxiliary power when the folding units 800 switch from the folded state to the extended state. Specifically, when the folding units 800 rotate and fold, the elastic member 710 is stretched, tending to propel the folding units 800 back to their original position. When the folding units 800 switch from the folded state to the extended state, auxiliary driving force is provided to the folding units 800 at the moment of extension, thereby alleviating instantaneous pressure on the folding units 800 and improving their lifespan.

[0048] refer to Figure 6 As shown, in one embodiment, the auxiliary component 700 also includes a guide plate 720 and a connecting rope (not shown in the figure). The guide plate 720 is arranged on a folding unit 800. One end of the connecting rope is connected to a folding unit 800, and the other end is connected to the elastic member 710. When the torso structure switches from the extended state to the folded state, the connecting rope bends along the guide plate 720 and pulls the elastic member 710.

[0049] In this embodiment, in two adjacent folding units 800, the guide plate 720 and one end of the connecting rope are fixed to one of the folding units 800, and the other end of the connecting rope is connected to the elastic member 710. In this way, the elastic member 710 can be pulled by the connecting rope. When a folding unit 800 is rotated and folded, one end of the connecting rope changes position with the rotation of the folding unit 800 and is simultaneously wrapped around the guide plate 720, thereby enabling the connecting rope to pull the elastic member 710, causing the elastic member 710 to be stretched and store energy.

[0050] In one embodiment, the auxiliary assembly 700 further includes a fixing post 730, which is fixedly mounted on the folding unit 800. The end of the connecting rope facing away from the elastic member 710 is connected to the fixing post 730. In a specific implementation, one end of the connecting rope is fixedly wrapped around the fixing post 730. The fixing post 730 and the guide plate 720 are located in the same folding unit 800, and the fixing post 730 is positioned toward one end of the guide plate 720 to ensure that the connecting rope can bend along the guide plate 720.

[0051] In one embodiment, the auxiliary unit further includes a protective plate 770, which is disposed on the folding unit 800 and defines a cavity with the outer wall of the folding unit 800 for accommodating the elastic member 710. In this embodiment, the protective plate 770 extends in the same direction as the elastic member 710. The protective plate 770 is arranged in an arc shape to form a cavity between the protective plate 770 and the folding unit 800. The elastic member 710 is accommodated in the cavity to protect the elastic member 710 from interference. It is understood that the connecting rope extends out of the cavity to connect adjacent folding units 800.

[0052] In one embodiment, the auxiliary component 700 also includes a fixed block 760, a hook 740 and an adjusting member 750. The fixed block 760 is fixedly connected to the folding unit 800. One end of the adjusting member 750 passes through the fixed block 760 and is rotatably connected to the hook 740. A guide groove is provided on the side wall of the folding unit 800. The hook 740 is slidably connected to the guide groove and is locked to the folding unit 800 by bolts.

[0053] The end of the elastic member 710 facing away from the connecting rope is fixed to the folding unit 800 via a fixing block 760 and a hook 740. In this embodiment, again taking two adjacent folding units 800 as an example, the elastic member 710 and the connecting rope are respectively fixed to different adjacent folding units 800. In a specific implementation, the fixing block 760 is fixed to the folding unit 800 via screws or pins, etc., and the adjusting member 750 is movable through the fixing block 760 and screwed onto the hook 740. By rotating the adjusting member 750, the position of the hook 740 on the adjusting member 750 can be adjusted to accommodate different elastic members 710 or different size requirements. The adjusting member 750 is a screw or bolt, etc., which is not limited in this embodiment. Furthermore, to enhance the stability of the hook 740 and prevent it from rotating with the adjustment member 750 during rotation, in this embodiment, a guide slot is provided on the sidewall of the folding unit 800. The length of the guide slot aligns with the extension direction of the adjustment member 750. One end of the hook 740 is positioned within the guide slot and moves along the guide slot to facilitate position adjustment. In a specific implementation, the hook 740 is also secured to the folding unit 800 via a bolt. Specifically, the bolt extends from the side of the folding unit 800 facing away from the guide slot, into the guide slot, and secures the hook 740.

[0054] In one embodiment, two groups of auxiliary structures are provided, and the two groups of auxiliary structures are symmetrically arranged on both sides of the folding unit 800. In a specific implementation, the two groups of auxiliary structures are symmetrically arranged to balance the forces on the opposite sides of the folding unit 800, ensuring smooth rotation of the folding rotation axis.

[0055] In one embodiment, each folding unit 800 includes a connecting frame 810 and a driving unit 500, the driving unit 500 includes a driving shaft 820 and a power member 510, the power member 510 is drivingly connected to the driving shaft 820 and drives the driving shaft 820 to rotate, the driving shaft 820 is connected to the connecting frame 810, the driving shaft 820 rotates and drives the connecting frame 810 to rotate, and the power member 510 is fixedly connected to the connecting member of the adjacent folding unit 800.

[0056] During the specific implementation process, the driving unit 500 is connected to the connecting frame 810 and drives the connecting frame 810 to rotate and fold, wherein the driving unit 500 is fixed to the adjacent connecting frame 810. In this embodiment, still taking two adjacent folding units 800 as an example, specifically, the power member 510 of one folding unit 800 is fixed to the connecting frame 810 of the other folding unit 800, and the driving shaft 820 is connected to the connecting frame 810 of the folding unit 800 to drive the connecting frame 810 to rotate around the driving shaft 820 and rotate and fold relative to the other connecting frame 810. Among them, the power member 510 can adopt a motor structure. When the motor drives the connecting frame 810 to switch from the folded state to the extended state, the instantaneous pressure on the motor structure is relatively large. The auxiliary component 700 provides the extension driving force to reduce the pressure on the motor structure, thereby protecting the motor structure and improving the service life.

[0057] In a specific implementation, the connecting frame 810 includes a connecting ear 811. The drive shaft 820 passes through the connecting ear 811 and is fixedly connected to the connecting ear 811. The guide plate 720 is disposed on the connecting ear 811, and the guide plate 720 is arranged in an arc shape. In the extended state, the connecting ears 811 of adjacent folding units 800 are located on opposite sides of the connecting frame 810. Specifically, the connecting ears 811 are connected to the drive shaft 820. There are two connecting ears 811. The drive shaft 820 passes through the two connecting ears 811 and is fixedly connected to the two connecting ears 811, respectively, so that the drive shaft 820 can drive the connecting frame 810 to rotate. The guide plate 720 is arc-shaped and is arranged coaxially with the drive shaft 820. The guide plate 720 moves as the drive shaft 820 rotates, causing the connecting rope to be wrapped around the guide plate 720 to pull the elastic member 710.

[0058] In one embodiment, the trunk structure also includes a main body 100, one of the multiple folding units 800 is configured as a first folding part 200, another is configured as a second folding part 300, and yet another is configured as a third folding part 400. In the folded state, the first folding part 200, the second folding part 300 and the third folding part 400 are stacked. In the extended state, the folding rotation axes of adjacent driving units 500 are staggered and located on opposite sides of the central axis of the main body 100. The first folding part 200 is used to connect the main body 100, and the third folding part 400 is arranged between the first folding part 200 and the second folding part 300. Figure 1 The labeling of one folding unit 800 in one embodiment does not conflict with the labeling in the drawings of other embodiments further defined.

[0059] It should be noted that this embodiment is described by taking the example of dividing the multiple folding units 800 into three types of folding parts. According to the above, in the further definition of the multiple folding units 800, the multiple folding units 800 are configured into at least three groups, one of which is the first folding part 200, another group is the second folding part 300, and another group is the third folding part 400. Specifically, it includes one first folding part 200, one second folding part 300, and at least one third folding part 400.

[0060] In this embodiment, the driving shaft 820 of the first folding portion 200 is configured as the first driving shaft 210, the connecting frame 810 is configured as the first connecting frame 220, and the connecting ear 811 is configured as the first connecting ear 221. Similarly, the driving shaft 820 of the third folding portion 400 is configured as the third driving shaft 410, the connecting frame 810 is configured as the third connecting frame 420, and the connecting ear 811 is configured as the third connecting ear 421. The central axis of the main body 100 is the central axis O of the trunk structure in the extended state. It can be understood that the folding rotation axis is set close to the outer wall of the trunk structure, with reference to FIG. Figure 5 shown.

[0061] In this embodiment, the third folding portion 400 is located between the first folding portion 200 and the second folding portion 300, that is, from the top of the trunk structure to the bottom, the main body 100, the first folding portion 200, the third folding portion 400, and the second folding portion 300 are arranged in order. When folding, the main body 100 and the first folding portion 200 rotate relative to the third folding portion 400, and the third folding portion 400 rotates relative to the second folding portion 300. The folding rotation directions of the two adjacent drive units 500 are opposite, thereby achieving stacking. It is understood that when folding and rotating, the folding rotation axis of the corresponding drive unit 500 rotates. In a specific implementation, the folding rotation axes of adjacent drive units 500 are located on opposite sides of the central axis of the main body 100, and the folding rotation axes are close to the ends of each folding portion. After folding, a compact stacking arrangement can be achieved without requiring a large space. Of course, it is understood that any rotation angle can be formed between the first folding portion 200 and the third folding portion 400, and between the third folding portion 400 and the second folding portion 300.

[0062] Among them, there can be multiple third folding sections 400, and the multiple third folding sections 400 are arranged in sequence. The third folding section 400 located at one end is connected to the first folding section 200, and the third folding section 400 located at the other end is connected to the second folding section 300. The other third folding sections 400 are connected in sequence, and two adjacent third folding sections 400 can be folded.

[0063] This technical solution connects the main body 100 with the first folding part 200, the main body 100 is externally connected to the head structure 10, the second folding part 300 is externally connected to the walking structure 20, and the first folding part 200, the third folding part 400, and the second folding part 300 are arranged in sequence, and the driving unit 500 is used to drive the three to rotate around the folding rotation axis respectively to achieve folding. In the folded state, the three are stacked in sequence, and the folding rotation axes of adjacent driving units 500 are staggered on opposite sides of the central axis of the main body 100. In this way, when folding, the folding rotation axes between the first folding part 200 and the adjacent third folding part 400, between the two adjacent third folding parts 400, and between the third folding part 400 and the second folding part 300 will not interfere with the stacking and occupy the folding space, and can achieve tight folding and occupy less space, so as to facilitate the deployment and operation of the robot in a space-constrained environment.

[0064] In one embodiment, the driving unit 500 includes a power member 510 and a transmission assembly 520 . The transmission assembly 520 includes a worm 521 and a bevel gear 522 that mesh with each other. The power member 510 is connected to the worm 521 and drives the worm 521 to rotate.

[0065] In a specific implementation, the power element 510 can be a motor or cylinder, which drives the worm 521 to rotate. The rotation of the worm 521 causes the bevel gear 522 to rotate. The bevel gear 522 is fixedly connected to the folding rotation axis, which in turn drives the folding rotation axis to rotate, thereby achieving folding. The folding drive shaft 820 is located in one folding section, and the power element 510 is located in another adjacent folding section. The power element 510 is used to provide the driving force for folding.

[0066] In addition, the driving unit 500 further includes a deceleration assembly 530, which can reduce the high-speed rotation of the power member 510 to a suitable rotation speed of the first folding part 200, the second folding part 300 and the third folding part 400, and increase the output torque accordingly, so that the components have sufficient power to complete the corresponding actions. Figure 8 As shown, the reduction assembly 530 adopts a planetary reduction structure. Specifically, the planetary reduction structure includes a first planetary disc 531, a second planetary disc 532, three first planetary gears (not shown), three second planetary gears (not shown), a first sun gear (not shown), and a second sun gear (not shown). A first output rod and three first input rods are provided on either side of the first planetary disc 531, respectively. The second planetary disc 532 is provided with three second input rods. Each first planetary gear is mounted on a first input rod, and each second planetary gear is mounted on a second input rod. The first sun gear is mounted on the output shaft of the motor and meshes with the three first planetary gears. The second sun gear is mounted on the first output rod and meshes with the three second planetary gears. The transmission assembly 520 is inserted into the second planetary disc 532. The meshing of the first sun gear with the three first planetary gears and the meshing of the second sun gear with the three second planetary gears achieves a two-stage reduction. This multi-stage reduction structure can achieve a large reduction ratio within a small volume, thereby reducing the high-speed rotation of the motor to a lower speed suitable for the movement of the corresponding components, while significantly increasing the output torque. In addition, the planetary reduction mechanism further includes a protective housing 533, which is connected to the motor housing. The first planetary disc 531, the second planetary disc 532, the three first planetary gears, the three second planetary gears, the first sun gear, and the second sun gear are all located within the protective housing 533. The motor is connected to the worm 521 and drives the worm 521 to rotate. The rotation of the worm 521 drives the bevel gear 522 to rotate. The bevel gear 522 is used to output the driving force that drives the drive unit 500 to rotate.

[0067] refer to Figure 3 and Figure 4As shown, in one embodiment, the first folding part 200 includes a first drive shaft 210 and a first connecting frame 220. The folding rotation axis of the first folding part 200 is configured as the first drive shaft 210. The first drive shaft 210 is fixedly connected to the corresponding bevel gear 522 and the first connecting frame 220 respectively. The first connecting frame 220 is used to connect the main body 100. The power part 510 of the first folding part 200 is fixedly arranged on the third folding part 400.

[0068] In this embodiment, the folding rotation axis of the driving unit 500 of the first folding part 200 is configured as the first driving shaft 210, the bevel gear 522 is fixedly sleeved on the first driving shaft 210, the end of the first connecting frame 220 away from the first driving shaft 210 is connected to the main body 100, and the driving unit 500 of the first folding part 200 is fixed to the third folding part 400. In this way, the driving unit 500 drives the first driving shaft 210 to rotate, which can drive the first connecting frame 220 to rotate, thereby realizing folding.

[0069] In one embodiment, the first connecting frame 220 is provided with a first connecting ear 221, and the first drive shaft 210 is provided with a first connecting plate 211, which is fixedly connected to the first connecting ear 221. The first connecting ear 221 is provided near one side of the first connecting frame 220, and there are two first connecting ears 221. The two ends of the first drive shaft 210 are respectively fixedly connected to the corresponding first connecting ears 221, such as by bolts, so that the first drive shaft 210 is located on one side of the central axis.

[0070] In one embodiment, the first folding portion 200 further includes a first shell 230, the first shell 230 is provided with a first cavity, the transmission assembly 520 of the first folding portion 200 is provided in the first cavity, the third folding portion 400 is provided with a third avoidance space, and the power member 510 of the first folding portion 200 is provided in the third avoidance space. In the specific implementation process, the first shell 230 is used to wrap the transmission assembly 520 of the drive unit 500 to ensure effective transmission, and the first shell 230 is fixedly connected to the third folding portion 400. A third avoidance space is opened in the middle position of the third folding portion 400 to accommodate the first power member 510 of the first folding portion 200, thereby reducing the overall occupied space. Among them, it can be understood that, among the multiple third folding portions 400, the power member 510 of one folding portion is located in the third avoidance space of the adjacent folding portion.

[0071] In one embodiment, the second folding portion 300 includes a second drive shaft 310 and a second connecting frame 320. The folding rotation axis of the second folding portion 300 is configured as the second drive shaft 310. The second drive shaft 310 is fixedly connected to the corresponding bevel gear 522 and the second connecting frame 320 respectively. The second connecting frame 320 is connected to the third folding portion 400. The power part 510 of the second folding portion 300 is fixedly arranged on the walking structure 20.

[0072] In this embodiment, the folding rotation axis of the driving unit 500 of the second folding part 300 is configured as the second driving shaft 310, the bevel gear 522 is fixedly sleeved on the second driving shaft 310, and the end of the second connecting frame 320 away from the second driving shaft 310 is connected to the walking structure 20. The driving unit 500 of the second folding part 300 is fixed to the walking structure 20. In this way, the driving unit 500 drives the second driving shaft 310 to rotate, which can drive the second connecting frame 320 to rotate, thereby realizing folding relative to the walking structure 20.

[0073] In one embodiment, the second connecting frame 320 is provided with a second connecting ear 321, and the second drive shaft 310 is provided with a second connecting plate 311, which is fixedly connected to the second connecting ear 321. The second connecting ear 321 is provided near one side of the second connecting frame 320. There are two second connecting ears 321, and both ends of the second drive shaft 310 are fixedly connected to the corresponding first connecting ears 221, such as by bolts.

[0074] The second folding part 300 also includes a second shell 330, the second shell 330 is provided with a second cavity, the transmission assembly 520 of the second folding part 300 is arranged in the second cavity, the walking structure 20 includes a fixed frame 21, the fixed frame 21 is provided with a second avoidance space, and the power part 510 of the second folding part 300 is arranged in the second avoidance space.

[0075] In a specific implementation, the second housing 330 is used to enclose the transmission assembly 520 of the drive unit 500 to ensure effective transmission. The second housing 330 is fixedly connected to the walking structure 20. The walking structure 20 has a fixing frame 21, which is used to fix the power member 510 of the second folding section 300. The fixing frame 21 defines a second avoidance space to accommodate the second power member 510 of the second folding section 300, thereby enabling the second folding section 300 to be folded onto the walking structure 20, thereby reducing the overall occupied space.

[0076] In one embodiment, the third folding section 400 includes a third drive shaft 410 and a third connecting frame 420. The folding rotation axis of the third folding section 400 is configured as the third drive shaft 410. The third drive shaft 410 is fixedly connected to the corresponding bevel gear 522 and the third connecting frame 420 respectively. The third connecting frame 420 is used to connect the first drive section or the adjacent third folding section 400. The power part 510 of the third folding section 400 is fixedly arranged on the second folding section 300 or the adjacent third folding section 400.

[0077] In this embodiment, the folding rotation axis of the driving unit 500 of the third folding portion 400 is configured as the third driving shaft 410, the bevel gear 522 is fixedly sleeved on the third driving shaft 410, and the end of the third connecting frame 420 away from the third driving shaft 410 is connected to the driving unit 500 of the first folding portion 200. The driving unit 500 of the third folding portion 400 is fixed to the second folding portion 300. In this way, the driving unit 500 drives the third driving shaft 410 to rotate, which can drive the third connecting frame 420 to rotate, thereby achieving folding. Of course, it can be understood that the third folding portion 400 here refers to the one used to connect to the second folding portion 300.

[0078] In one embodiment, the third connecting frame 420 is provided with a third connecting ear 421, and the third drive shaft 410 is provided with a third connecting plate 411, which is fixedly connected to the third connecting ear 421. The third connecting ear 421 is provided near one side of the third connecting frame 420, and there are two third connecting ears 421. The ends of the third drive shaft 410 are respectively fixedly connected to the corresponding third connecting ears 421, such as by bolts, so that the third drive shaft 410 is located on one side of the central axis.

[0079] The third folding part 400 also includes a third shell 430, the third shell 430 is provided with a third cavity, the transmission assembly 520 of the third folding part 400 is arranged in the third cavity, the second folding part 300 is provided with a first avoidance space, and the power part 510 of the third folding part 400 is arranged in the second avoidance space or the third avoidance space of the adjacent third folding part 400.

[0080] In a specific implementation, the third housing 430 is used to enclose the transmission assembly 520 of the drive unit 500 to ensure effective transmission. The third housing 430 is fixedly connected to the second folding portion 300. A second avoidance space is provided in the middle of the second folding portion 300 to accommodate the third power member 510 of the third folding portion 400, thereby reducing the overall occupied space.

[0081] In one embodiment, the trunk structure further includes a rotating portion 600 , which is fixed to the first folding portion 200 , and the rotating portion 600 also drives the main portion 100 to rotate.

[0082] The rotating section 600 utilizes a harmonic motor, secured to one end of the first folding section 200. Connected to the trunk 100, the motor drives the trunk 100 to rotate along its axis, which aligns with the trunk's extended direction. This allows the trunk 100 to rotate, increasing the trunk's degree of freedom. Furthermore, the trunk 100 externally connects to the head structure 10, while the third folding section 400 externally connects to the walking structure 20.

[0083] The present invention also proposes a robot, which includes a head structure 10, a walking structure 20 and a torso structure. The specific structure of the torso structure refers to the above-mentioned embodiment. Since this robot adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above-mentioned embodiments, which will not be described one by one here. Among them, the torso structure is respectively connected to the head structure 10 and the walking structure 20. Specifically, in this embodiment, the main body 100 of the torso structure is connected to the head structure 10, and the head structure 10 is used to exchange information with the outside world. The third folding part 400 of the torso structure is connected to the walking structure 20, and the walking structure 20 is used to walk and achieve movement.

[0084] The above description is merely an exemplary embodiment of the present invention and does not limit the scope of protection of the present invention. Any equivalent structural transformation made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields, is included in the scope of protection of the present invention.

Claims

1. A trunk structure, characterized in that: include: A plurality of folding units connected in sequence, wherein adjacent folding units can be rotated and folded, so that the trunk structure has a folded state and an extended state; as well as The auxiliary component includes an elastic member, one end of which is connected to one of the folding units, and the other end is used to connect to another adjacent folding unit. When the trunk structure switches from the extended state to the folded state, the elastic member is stretched, so that the elastic member generates a driving force to drive the two adjacent folding units to reset.

2. The trunk structure according to claim 1, wherein: The auxiliary component also includes a guide plate and a connecting rope. The guide plate is arranged on one of the folding units. One end of the connecting rope is connected to one of the folding units, and the other end is connected to the elastic member. When the trunk structure switches from an extended state to a folded state, the connecting rope bends along the guide plate and pulls the elastic member.

3. The trunk structure according to claim 2, wherein: The auxiliary component also includes a fixed block, a hook and an adjusting piece. The fixed block is fixedly connected to the folding unit. One end of the adjusting piece passes through the fixed block and is rotatably connected to the hook. A guide groove is provided on the side wall of the folding unit. The hook is slidably connected to the guide groove and is locked to the folding unit by a bolt.

4. The trunk structure according to claim 2, wherein: The auxiliary assembly further includes a fixing post, the fixing post being fixed to the folding unit, and the end of the connecting rope facing away from the elastic member being connected to the fixing post; and / or, The auxiliary unit further includes a protective plate, which is arranged on the folding unit and forms a cavity for accommodating the elastic member between the protective plate and the outer wall of the folding unit.

5. The trunk structure according to claim 1, wherein: The auxiliary structures are provided in two groups, and the two groups of auxiliary structures are symmetrically arranged on both sides of the folding unit.

6. The trunk structure according to claim 2, wherein: Each of the folding units includes a connecting frame and a driving unit, and the driving unit includes a driving shaft and a power member. The power member is connected to the driving shaft and drives the driving shaft to rotate. The driving shaft is connected to the connecting frame, and the driving shaft rotates to drive the connecting frame to rotate. The power member is fixedly connected to the connecting member of the adjacent folding unit.

7. The trunk structure according to claim 6, wherein: The connecting frame includes a connecting ear, the driving shaft passes through the connecting ear and is fixedly connected to the connecting ear, and the guide plate is arranged on the connecting ear, and the guide plate is arranged in an arc shape.

8. The trunk structure according to claim 6, wherein: The trunk structure also includes a main body, one of the multiple folding units is configured as a first folding part, another is configured as a second folding part, and yet another is configured as a third folding part. In the folded state, the first folding part, the second folding part and the third folding part are stacked. In the extended state, the folding rotation axes of adjacent driving units are staggered on opposite sides of the central axis of the main body. The first folding part is used to connect the main body, and the third folding part is arranged between the first folding part and the second folding part.

9. The trunk structure according to claim 8, wherein: The trunk structure further includes a rotating portion, which is fixed to the first folding portion and is also driven to connect to the main body portion and drive the main body portion to rotate.

10. A robot, characterized in that: It comprises a head structure, a walking structure and a trunk structure according to any one of claims 1 to 9, wherein the trunk structure is connected to the head structure and the walking structure respectively.

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